void initMotor(void)
{
   pinMode(Motor1Pin, PWM);
   pinMode(Motor2Pin, PWM);
   pinMode(Motor3Pin, PWM);
   pinMode(Motor4Pin, PWM);
   
   pinMode(Motor7Pin, PWM);
   pinMode(Motor8Pin, PWM);
   
   digitalWrite(Motor1Pin, LOW);
   digitalWrite(Motor2Pin, LOW);
   digitalWrite(Motor3Pin, LOW);
   digitalWrite(Motor4Pin, LOW);
   
   digitalWrite(Motor7Pin, LOW);
   digitalWrite(Motor8Pin, LOW);
   
   
    timer_set_mode(TIMER4, TIMER_CH4, TIMER_PWM);
    timer_set_mode(TIMER4, TIMER_CH3, TIMER_PWM);
    timer_set_mode(TIMER4, TIMER_CH2, TIMER_PWM);
   timer_set_mode(TIMER4, TIMER_CH1, TIMER_PWM);
   
   timer_set_mode(TIMER2, TIMER_CH3, TIMER_PWM);
   timer_set_mode(TIMER2, TIMER_CH4, TIMER_PWM);
  
    timer_pause(TIMER4);
   timer_set_count(TIMER4, 0);
   timer_set_reload(TIMER4, 54000);// 60000, 55000, 50000 Period of the PWM signal
                                   // 48000 falls off the cliff w/ Plush 25Amp
                                   // 50000 spotty w/ 1 out of 3 esc's
   timer_resume(TIMER4);           // enable outputs to esc's
   
    timer_pause(TIMER2);
     timer_set_count(TIMER2, 0);
   timer_set_reload(TIMER2, 54000);// 60000, 55000, 50000 Period of the PWM signal
                                   // 48000 falls off the cliff w/ Plush 25Amp
                                   // 50000 spotty w/ 1 out of 3 esc's
   timer_resume(TIMER2);           // enable outputs to esc's
   //----------------测试代码----------------------------------
   pwmWrite(Motor1Pin,5000); 
   pwmWrite(Motor2Pin,15000); 
   pwmWrite(Motor3Pin,20000); 
   pwmWrite(Motor4Pin,25000); 
   pwmWrite(Motor7Pin,30000); 
   pwmWrite(Motor8Pin,35000); 
   
}
